#ifndef REFS_H
#define REFS_H

#pragma pack(1)
// 指定按照1字节对齐

// #include "main.h"
// #include "protocol.h"

typedef enum {
  RED_HERO = 1,
  RED_ENGINEER = 2,
  RED_STANDARD_1 = 3,
  RED_STANDARD_2 = 4,
  RED_STANDARD_3 = 5,
  RED_AERIAL = 6,
  RED_SENTRY = 7,
  BLUE_HERO = 11,
  BLUE_ENGINEER = 12,
  BLUE_STANDARD_1 = 13,
  BLUE_STANDARD_2 = 14,
  BLUE_STANDARD_3 = 15,
  BLUE_AERIAL = 16,
  BLUE_SENTRY = 17,
} robot_id_t;
typedef enum {
  PROGRESS_UNSTART = 0,
  PROGRESS_PREPARE = 1,
  PROGRESS_SELFCHECK = 2,
  PROGRESS_5sCOUNTDOWN = 3,
  PROGRESS_BATTLE = 4,
  PROGRESS_CALCULATING = 5,
} game_progress_t;
typedef struct  // 0001
{
  uint8_t game_type: 4;
  uint8_t game_progress: 4;
  uint16_t stage_remain_time;
} ext_game_state_t;

typedef struct  // 0002
{
  uint8_t winner;
} ext_game_result_t;
typedef struct  // 0003
{
  uint16_t red_1_robot_HP;
  uint16_t red_2_robot_HP;
  uint16_t red_3_robot_HP;
  uint16_t red_4_robot_HP;
  uint16_t red_5_robot_HP;
  uint16_t red_7_robot_HP;
  uint16_t red_outpost_HP;
  uint16_t red_base_HP;
  uint16_t blue_1_robot_HP;
  uint16_t blue_2_robot_HP;
  uint16_t blue_3_robot_HP;
  uint16_t blue_4_robot_HP;
  uint16_t blue_5_robot_HP;
  uint16_t blue_7_robot_HP;
  uint16_t blue_outpost_HP;
  uint16_t blue_base_HP;
} ext_game_robot_HP_t;

typedef struct  // 0x0004
{
  uint8_t dart_belong;
  uint16_t stage_remaining_time;
} ext_dart_status_t;

typedef struct  // 0x0005
{
  uint8_t F1_zone_status: 1;
  uint8_t F1_zone_buff_debuff_zone_status: 3;
  uint8_t F2_zone_status: 1;
  uint8_t F2_zone_buff_debuff_zone_status: 3;
  uint8_t F3_zone_status: 1;
  uint8_t F3_zone_buff_debuff_zone_status: 3;
  uint8_t F4_zone_status: 1;
  uint8_t F4_zone_buff_debuff_zone_status: 3;
  uint8_t F5_zone_status: 1;
  uint8_t F5_zone_buff_debuff_zone_status: 3;
  uint8_t F6_zone_status: 1;
  uint8_t F6_zone_buff_debuff_zone_status: 3;
} ext_ICRA_buff_debuff_zone_status_t;

typedef struct  // 0101
{
  uint32_t event_type;
} ext_event_data_t;

typedef struct  // 0x0102
{
  uint8_t supply_projectile_id;
  uint8_t supply_robot_id;
  uint8_t supply_projectile_step;
  uint8_t supply_projectile_num;
} ext_supply_projectile_action_t;

/*
typedef  struct //0x0103
{
    uint8_t supply_projectile_id;
    uint8_t supply_robot_id;
    uint8_t supply_num;
} ext_supply_projectile_booking_t;
*/

typedef struct  // 0104
{
  uint8_t level;
  uint8_t foul_robot_id;
} ext_referee_warning_t;

typedef struct  // 0105
{
  uint8_t dart_remaining_time;
} ext_dart_remaining_time_t;

typedef struct  // 0x0201
{
  uint8_t robot_id;
  uint8_t robot_level;
  uint16_t remain_HP;
  uint16_t max_HP;
  uint16_t shooter_heat0_cooling_rate;
  uint16_t shooter_heat0_cooling_limit;
  uint16_t shooter_heat1_cooling_rate;
  uint16_t shooter_heat1_cooling_limit;
  uint8_t shooter_heat0_speed_limit;
  uint8_t shooter_heat1_speed_limit;
  uint8_t max_chassic_power;
  uint8_t mains_power_gimbal_output: 1;
  uint8_t mains_power_chassis_output: 1;
  uint8_t mains_power_shooter_output: 1;
} ext_game_robot_state_t;

typedef struct  // 0x0202
{
  uint16_t chassis_volt;
  uint16_t chassis_current;
  float chassis_power;
  uint16_t chassis_power_buffer;
  uint16_t shooter_heat0;
  uint16_t shooter_heat1;
  uint16_t mobile_shooot_heat2;
} ext_power_heat_data_t;

typedef struct  // 0x0203
{
  float x;
  float y;
  float z;
  float yaw;
} ext_game_robot_pos_t;

typedef struct  // 0x0204
{
  uint8_t power_rune_buff;
} ext_buff_t;

typedef struct  // 0x0205
{
  uint8_t energy_point;
  uint8_t attack_time;
} aerial_robot_energy_t;

typedef struct  // 0x0206
{
  uint8_t armor_type: 4;
  uint8_t hurt_type: 4;
} ext_robot_hurt_t;

typedef struct  // 0x0207
{
  uint8_t bullet_type;
  uint8_t bullet_freq;
  float bullet_speed;
} ext_shoot_data_t;

typedef struct  // 0x0208
{
  uint8_t bullet_remaining_num;
} ext_bullet_remaining_t;

typedef struct  // 0x0209
{
  uint32_t rfid_status;
} ext_rfid_status_t;

typedef struct  // 0x020A
{
  uint8_t dart_launch_opening_status;
  uint8_t dart_attack_target;
  uint8_t target_change_time;
  uint8_t first_dart_speed;
  uint8_t seconf_dart_speed;
  uint8_t third_dart_speed;
  uint8_t fourth_dart_speed;
  uint16_t last_dart_launch_time;
  uint16_t operate_launch_cmd_time;
} ext_dart_cilent_cmd_t;

typedef struct  // 0x0301
{
  uint16_t send_ID;
  uint16_t receiver_ID;
  uint16_t data_cmd_id;
  // uint16_t data_len;
  // uint8_t *data;
} ext_student_interactive_data_t;


typedef struct {
  float data1;
  float data2;
  float data3;
  uint8_t data4;
} custom_data_t;

//typedef struct {
//  uint8_t data[64];
//} robot_interactive_data_t;

/*
typedef  struct
{
    uint8_t data[32];
} ext_download_stream_data_t;
*/

// extern void init_referee_struct_data(void);
// extern void referee_data_solve(uint8_t *frame);

// extern void get_chassis_power_and_buffer(fp32 *power, fp32 *buffer);

// extern uint8_t get_robot_id(void);

// extern void get_shoot_heat0_limit_and_heat0(uint16_t *heat0_limit,
//                                             uint16_t *heat0);
// extern void get_shoot_heat1_limit_and_heat1(uint16_t *heat1_limit,
//                                             uint16_t *heat1);

// // crc8 generator polynomial:G(x)=x8+x5+x4+1
// const unsigned char CRC8_INIT = 0xff;
// const unsigned char CRC8_TAB[256] = {
//     0x00, 0x5e, 0xbc, 0xe2, 0x61, 0x3f, 0xdd, 0x83, 0xc2, 0x9c, 0x7e, 0x20,
//     0xa3, 0xfd, 0x1f, 0x41, 0x9d, 0xc3, 0x21, 0x7f, 0xfc, 0xa2, 0x40, 0x1e,
//     0x5f, 0x01, 0xe3, 0xbd, 0x3e, 0x60, 0x82, 0xdc, 0x23, 0x7d, 0x9f, 0xc1,
//     0x42, 0x1c, 0xfe, 0xa0, 0xe1, 0xbf, 0x5d, 0x03, 0x80, 0xde, 0x3c, 0x62,
//     0xbe, 0xe0, 0x02, 0x5c, 0xdf, 0x81, 0x63, 0x3d, 0x7c, 0x22, 0xc0, 0x9e,
//     0x1d, 0x43, 0xa1, 0xff, 0x46, 0x18, 0xfa, 0xa4, 0x27, 0x79, 0x9b, 0xc5,
//     0x84, 0xda, 0x38, 0x66, 0xe5, 0xbb, 0x59, 0x07, 0xdb, 0x85, 0x67, 0x39,
//     0xba, 0xe4, 0x06, 0x58, 0x19, 0x47, 0xa5, 0xfb, 0x78, 0x26, 0xc4, 0x9a,
//     0x65, 0x3b, 0xd9, 0x87, 0x04, 0x5a, 0xb8, 0xe6, 0xa7, 0xf9, 0x1b, 0x45,
//     0xc6, 0x98, 0x7a, 0x24, 0xf8, 0xa6, 0x44, 0x1a, 0x99, 0xc7, 0x25, 0x7b,
//     0x3a, 0x64, 0x86, 0xd8, 0x5b, 0x05, 0xe7, 0xb9, 0x8c, 0xd2, 0x30, 0x6e,
//     0xed, 0xb3, 0x51, 0x0f, 0x4e, 0x10, 0xf2, 0xac, 0x2f, 0x71, 0x93, 0xcd,
//     0x11, 0x4f, 0xad, 0xf3, 0x70, 0x2e, 0xcc, 0x92, 0xd3, 0x8d, 0x6f, 0x31,
//     0xb2, 0xec, 0x0e, 0x50, 0xaf, 0xf1, 0x13, 0x4d, 0xce, 0x90, 0x72, 0x2c,
//     0x6d, 0x33, 0xd1, 0x8f, 0x0c, 0x52, 0xb0, 0xee, 0x32, 0x6c, 0x8e, 0xd0,
//     0x53, 0x0d, 0xef, 0xb1, 0xf0, 0xae, 0x4c, 0x12, 0x91, 0xcf, 0x2d, 0x73,
//     0xca, 0x94, 0x76, 0x28, 0xab, 0xf5, 0x17, 0x49, 0x08, 0x56, 0xb4, 0xea,
//     0x69, 0x37, 0xd5, 0x8b, 0x57, 0x09, 0xeb, 0xb5, 0x36, 0x68, 0x8a, 0xd4,
//     0x95, 0xcb, 0x29, 0x77, 0xf4, 0xaa, 0x48, 0x16, 0xe9, 0xb7, 0x55, 0x0b,
//     0x88, 0xd6, 0x34, 0x6a, 0x2b, 0x75, 0x97, 0xc9, 0x4a, 0x14, 0xf6, 0xa8,
//     0x74, 0x2a, 0xc8, 0x96, 0x15, 0x4b, 0xa9, 0xf7, 0xb6, 0xe8, 0x0a, 0x54,
//     0xd7, 0x89, 0x6b, 0x35,
// };
// unsigned char Get_CRC8_Check_Sum(unsigned char *pchMessage,
//                                  unsigned int dwLength, unsigned char ucCRC8)
//                                  {
//   unsigned char ucIndex;
//   while (dwLength--) {
//     ucIndex = ucCRC8 ^ (*pchMessage++);
//     ucCRC8 = CRC8_TAB[ucIndex];
//   }
//   return (ucCRC8);
// }
// /*
// ** Descriptions: CRC8 Verify function
// ** Input: Data to Verify,Stream length = Data + checksum
// ** Output: True or False (CRC Verify Result)
// */
// unsigned intVerify_CRC8_Check_Sum(unsigned char *pchMessage,
//                                   unsigned int dwLength) {
//   unsigned char ucExpected = 0;
//   if ((pchMessage == 0) || (dwLength <= 2)) return 0;
//   ucExpected = Get_CRC8_Check_Sum(pchMessage, dwLength - 1, CRC8_INIT);
//   return (ucExpected == pchMessage[dwLength - 1]);
// } /* ** Descriptions: append CRC8 to the end of data ** Input: Data to CRC
// and
//      append,Stream length = Data + checksum ** Output: True or False (CRC
//      Verify Result) */
// void Append_CRC8_Check_Sum(unsigned char *pchMessage, unsigned int dwLength)
// {
//   unsigned char ucCRC = 0;
//   if ((pchMessage == 0) || (dwLength <= 2)) return;
//   ucCRC =
//       Get_CRC8_Check_Sum((unsigned char *)pchMessage, dwLength - 1,
//       CRC8_INIT);
//   pchMessage[dwLength - 1] = ucCRC;
// }
// uint16_t CRC_INIT = 0xffff;
// const uint16_t wCRC_Table[256] = {
//     0x0000, 0x1189, 0x2312, 0x329b, 0x4624, 0x57ad, 0x6536, 0x74bf, 0x8c48,
//     0x9dc1, 0xaf5a, 0xbed3, 0xca6c, 0xdbe5, 0xe97e, 0xf8f7, 0x1081, 0x0108,
//     0x3393, 0x221a, 0x56a5, 0x472c, 0x75b7, 0x643e, 0x9cc9, 0x8d40, 0xbfdb,
//     0xae52, 0xdaed, 0xcb64, 0xf9ff, 0xe876, 0x2102, 0x308b, 0x0210, 0x1399,
//     0x6726, 0x76af, 0x4434, 0x55bd, 0xad4a, 0xbcc3, 0x8e58, 0x9fd1, 0xeb6e,
//     0xfae7, 0xc87c, 0xd9f5, 0x3183, 0x200a, 0x1291, 0x0318, 0x77a7, 0x662e,
//     0x54b5, 0x453c, 0xbdcb, 0xac42, 0x9ed9, 0x8f50, 0xfbef, 0xea66, 0xd8fd,
//     0xc974, 0x4204, 0x538d, 0x6116, 0x709f, 0x0420, 0x15a9, 0x2732, 0x36bb,
//     0xce4c, 0xdfc5, 0xed5e, 0xfcd7, 0x8868, 0x99e1, 0xab7a, 0xbaf3, 0x5285,
//     0x430c, 0x7197, 0x601e, 0x14a1, 0x0528, 0x37b3, 0x263a, 0xdecd, 0xcf44,
//     0xfddf, 0xec56, 0x98e9, 0x8960, 0xbbfb, 0xaa72, 0x6306, 0x728f, 0x4014,
//     0x519d, 0x2522, 0x34ab, 0x0630, 0x17b9, 0xef4e, 0xfec7, 0xcc5c, 0xddd5,
//     0xa96a, 0xb8e3, 0x8a78, 0x9bf1, 0x7387, 0x620e, 0x5095, 0x411c, 0x35a3,
//     0x242a, 0x16b1, 0x0738, 0xffcf, 0xee46, 0xdcdd, 0xcd54, 0xb9eb, 0xa862,
//     0x9af9, 0x8b70, 0x8408, 0x9581, 0xa71a, 0xb693, 0xc22c, 0xd3a5, 0xe13e,
//     0xf0b7, 0x0840, 0x19c9, 0x2b52, 0x3adb, 0x4e64, 0x5fed, 0x6d76, 0x7cff,
//     0x9489, 0x8500, 0xb79b, 0xa612, 0xd2ad, 0xc324, 0xf1bf, 0xe036, 0x18c1,
//     0x0948, 0x3bd3, 0x2a5a, 0x5ee5, 0x4f6c, 0x7df7, 0x6c7e, 0xa50a, 0xb483,
//     0x8618, 0x9791, 0xe32e, 0xf2a7, 0xc03c, 0xd1b5, 0x2942, 0x38cb, 0x0a50,
//     0x1bd9, 0x6f66, 0x7eef, 0x4c74, 0x5dfd, 0xb58b, 0xa402, 0x9699, 0x8710,
//     0xf3af, 0xe226, 0xd0bd, 0xc134, 0x39c3, 0x284a, 0x1ad1, 0x0b58, 0x7fe7,
//     0x6e6e, 0x5cf5, 0x4d7c, 0xc60c, 0xd785, 0xe51e, 0xf497, 0x8028, 0x91a1,
//     0xa33a, 0xb2b3, 0x4a44, 0x5bcd, 0x6956, 0x78df, 0x0c60, 0x1de9, 0x2f72,
//     0x3efb, 0xd68d, 0xc704, 0xf59f, 0xe416, 0x90a9, 0x8120, 0xb3bb, 0xa232,
//     0x5ac5, 0x4b4c, 0x79d7, 0x685e, 0x1ce1, 0x0d68, 0x3ff3, 0x2e7a, 0xe70e,
//     0xf687, 0xc41c, 0xd595, 0xa12a, 0xb0a3, 0x8238, 0x93b1, 0x6b46, 0x7acf,
//     0x4854, 0x59dd, 0x2d62, 0x3ceb, 0x0e70, 0x1ff9, 0xf78f, 0xe606, 0xd49d,
//     0xc514, 0xb1ab, 0xa022, 0x92b9, 0x8330, 0x7bc7, 0x6a4e, 0x58d5, 0x495c,
//     0x3de3, 0x2c6a, 0x1ef1, 0x0f78};
// /*
// ** Descriptions: CRC16 checksum function
// ** Input: Data to check,Stream length, initialized checksum
// ** Output: CRC checksum
// */
// uint16_t Get_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength,
//                              uint16_t wCRC) {
//   Uint8_t chData;
//   if (pchMessage == NULL) {
//     return 0xFFFF;
//   }
//   while (dwLength--) {
//     chData = *pchMessage++;
//     (wCRC) = ((uint16_t)(wCRC) >> 8) ^
//              wCRC_Table[((uint16_t)(wCRC) ^ (uint16_t)(chData)) & 0x00ff];
//   }
//   return wCRC;
// }
// /* ** Descriptions: CRC16 Verify function ** Input: Data to Verify,Stream
// length
//  * = Data + checksum ** Output: True or False (CRC Verify Result) */
// uint32_t Verify_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) {
//   uint16_t wExpected = 0;
//   if ((pchMessage == NULL) || (dwLength <= 2)) {
//     return __FALSE;
//   }
//   wExpected = Get_CRC16_Check_Sum(pchMessage, dwLength - 2, CRC_INIT);
//   return ((wExpected & 0xff) == pchMessage[dwLength - 2] &&
//           ((wExpected >> 8) & 0xff) == pchMessage[dwLength - 1]);
// } /* ** Descriptions: append CRC16 to the end of data ** Input: Data to CRC
// and
//      append,Stream length = Data + checksum ** Output: True or False (CRC
//      Verify Result) */
// void Append_CRC16_Check_Sum(uint8_t *pchMessage, uint32_t dwLength) {
//   uint16_t wCRC = 0;
//   if ((pchMessage == NULL) || (dwLength <= 2)) {
//     return;
//   }
//   wCRC = Get_CRC16_Check_Sum((U8 *)pchMessage, dwLength - 2, CRC_INIT);
//   pchMessage[dwLength - 2] = (U8)(wCRC & 0x00ff);
//   pchMessage[dwLength - 1] = (U8)((wCRC >> 8) & 0x00ff);
// }
#pragma pack()
#endif
